Husband lasts too long

My husband lasts way too long. We have a great sex life and we're very adventurous in the bedroom, but I'm getting tired of sex being 2-3 hours long. We have 2 children, a 5 year old and a 5 month old, and we both work 8+ hour days. I love when we get intimate, but after dealing with daily life, I want a short session and when it's too long it also hurts. He has no problems, and I mean no problems, getting and keeping an erection, but he has issues getting off, he even has problems getting off when he has one on one time. Any suggestions on what might be the problem and a resolution? Should he sees a doctor? Anybody else with this experience?